CN105904440B - A kind of self-adapting flexible joint exoskeleton device - Google Patents
A kind of self-adapting flexible joint exoskeleton device Download PDFInfo
- Publication number
- CN105904440B CN105904440B CN201610364237.7A CN201610364237A CN105904440B CN 105904440 B CN105904440 B CN 105904440B CN 201610364237 A CN201610364237 A CN 201610364237A CN 105904440 B CN105904440 B CN 105904440B
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- CN
- China
- Prior art keywords
- disc spring
- compression disc
- tension
- thigh
- servomechanism
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The invention discloses a kind of self-adapting flexible joint exoskeleton devices, carrying knee joint are applied in bionical structure human body Cartilage tissue constructs with lower portion, including thigh flexibility servomechanism（1）And the hinged shank bindiny mechanism of thigh flexibility servomechanism（2）And the hinged foot wearing load mechanism with shank bindiny mechanism.Thigh flexible rotating servomechanism（1）In, by upper tension and compression disc spring（8）With lower tension and compression disc spring（9）Form tension and compression disc spring mechanism, shank connecting rod（13）For T-bar part, upper tension and compression disc spring（8）With lower tension and compression disc spring（9）The both sides up and down for the shank connecting rod T forming heads that are placed in simultaneously pass through knee joint and rotate shaft connection mechanism（11）It is fixed with human thigh.Apparatus of the present invention are flexible and meet the buffer protection device of joint motions degree of freedom, are allowed to, close to the Human Physiology characteristics of motion, support human motion, bear human body heavy burden demand.
Description
Technical field
The present invention relates to human body wearable devices more particularly to exoskeleton ankle joint to realize bone vola and shank and lower limb
The stable motion of connection reduces unstability during walking, increases the power-assisted flexibility balance mechanism of human body bearing capacity balance.
Background technology
The wearable ectoskeleton equipment auxiliary human motion walking of lower limb, it is ensured that ectoskeleton is with more the similar physiology of human body
Feature and function make wearer's impression more comfortable, and can give full play to the power-assisted auxiliary advantage of ectoskeleton equipment, using flexibility
Turning joint is one of emphasis of ectoskeleton structural development.
It is rigid hinge structure that knee joint equipment design is most of in current lower limb exoskeleton equipment, is used cooperatively in human body
When, user can feel that walking is very stiff, and the mainly joint motions of people are flexible motion, and kneed soft tissue, which has, to be inhaled
Shake acts on, and makes to ignore the impact from ground during human body walking, keeps body walking balance.But traditional ectoskeleton does not consider to walk
Reduce the importance of impact.
Invention content
The object of the present invention is to provide buffer protection devices that is a kind of flexible and meeting joint motions degree of freedom, are allowed to close
The Human Physiology characteristics of motion supports human motion, bears human body heavy burden demand.
Goal of the invention is realized by the following means：A kind of self-adapting flexible joint exoskeleton device, in bionical structure
It is applied to carrying knee joint in human body Cartilage tissue constructs with lower portion, is helped including thigh flexibility servomechanism 1, with thigh flexibility
The hinged shank bindiny mechanism 2 of force mechanisms and the foot hinged with shank bindiny mechanism wearing load mechanism.Thigh flexibility power-assisted
In mechanism 1, tension and compression disc spring mechanism is formed by upper tension and compression disc spring 8 and lower tension and compression disc spring 9, shank connecting rod 13 is T-bar part, is pulled up
Pressure disc spring 8 and lower tension and compression disc spring 9 be placed in shank connecting rod T forming heads both sides up and down and pass through knee joint and rotate shaft connection mechanism
11 fix with human thigh；Shank bindiny mechanism 2 is a batten, and the upper end is hinged with thigh flexibility servomechanism 1, and lower end passes through
Pin 4 couples foot wearing load mechanism, and ectoskeleton is carried power conduction causes ground.
The present invention uses base of principle of human engineering in the exoskeleton device of human body assisted walk, small at model of human ankle
Leg connect a kind of knee joint assistant damping device of design with foot, coordinates human motion, makes one machine with better coupling.
Description of the drawings
Fig. 1 is the right leg fixed structure schematic diagram of self-adapting flexible joint of the present invention exoskeleton device.
Fig. 2 is Fig. 1 K portions left view.
Fig. 3 is flexible joint ectoskeleton local structural graph.
Specific embodiment
The method of the present invention is described in further detail below in conjunction with the accompanying drawings.
Self-adapting flexible joint of the present invention exoskeleton device is applied to carrying in bionical structure human body Cartilage tissue constructs
Knee joint with lower portion, including thigh flexibility servomechanism 1, with the hinged shank bindiny mechanism 2 of thigh flexibility servomechanism and
The hinged foot wearing load mechanism with shank bindiny mechanism.In thigh flexibility servomechanism 1, by upper tension and compression disc spring 8 under
Tension and compression disc spring 9 forms tension and compression disc spring mechanism, and shank connecting rod 13 is T-bar part, and upper tension and compression disc spring 8 and lower tension and compression disc spring 9 are split
It is fixed in the both sides up and down of shank connecting rod T forming heads and by leg set 5 with human thigh；Shank bindiny mechanism 2 is a batten,
Upper end is hinged with thigh flexibility servomechanism 1, and lower end couples foot by pin 4 and dresses load mechanism, and ectoskeleton is carried power conduction
Cause ground.In figure：3 be hinged thigh flexibility servomechanism 1 and the connecting pin of shank bindiny mechanism 2, and 10 be disc spring upper cover, 12
It is the heel backup plate stood on shoe body plate 7 for disc spring low head, 6.
In this way, when shank bindiny mechanism 2 moves ballast, shank connecting rod 13 moves up, and upper tension and compression disc spring 8, which is pressurized, to be compressed,
Lower tension and compression disc spring 9 extends.
Shank bindiny mechanism 2 and foot shoe body are hinged, and ectoskeleton is carried power conduction causes ground, and foot is connect with shoe body plate 7
It is connected using adhesive tape button 5.
Claims (2)
1. a kind of self-adapting flexible joint exoskeleton device is applied to carrying knee in bionical structure human body Cartilage tissue constructs and closes
Section is with lower portion, including thigh flexibility servomechanism (1) and the hinged shank bindiny mechanism (2) of thigh flexibility servomechanism (1)
And the hinged foot wearing load mechanism with shank bindiny mechanism, which is characterized in that in thigh flexibility servomechanism (1), by upper
Tension and compression disc spring (8) and lower tension and compression disc spring (9) form tension and compression disc spring mechanism, and shank connecting rod (13) is T-bar part, upper tension and compression disc spring
(8) and lower tension and compression disc spring (9) be placed in shank connecting rod T forming heads both sides up and down and pass through knee joint and rotate shaft connection mechanism
(11) it is fixed with human thigh；Shank bindiny mechanism (2) is a batten, and the upper end is hinged with thigh flexibility servomechanism (1), under
End couples foot by pin (4) and dresses load mechanism, and ectoskeleton is carried power conduction causes ground.
2. self-adapting flexible joint according to claim 1 exoskeleton device, which is characterized in that shoe body is connected with use
In the adhesive tape button (5) being connect with human foot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610364237.7A CN105904440B (en) | 2016-05-26 | 2016-05-26 | A kind of self-adapting flexible joint exoskeleton device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610364237.7A CN105904440B (en) | 2016-05-26 | 2016-05-26 | A kind of self-adapting flexible joint exoskeleton device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105904440A CN105904440A (en) | 2016-08-31 |
| CN105904440B true CN105904440B (en) | 2018-06-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610364237.7A Expired - Fee Related CN105904440B (en) | 2016-05-26 | 2016-05-26 | A kind of self-adapting flexible joint exoskeleton device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105904440B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106389073B (en) * | 2016-11-30 | 2018-09-04 | 深圳市迈步机器人科技有限公司 | Ectoskeleton mechanical device |
| CN106625596B (en) * | 2016-12-20 | 2019-03-12 | 东南大学 | A kind of knee joint servomechanism of automatic switchover |
| CN106625597B (en) * | 2016-12-20 | 2019-03-12 | 东南大学 | A kind of knee joint power assisting device of rigidity auto-changing |
| CN106514625B (en) * | 2016-12-20 | 2019-02-05 | 东南大学 | A kind of knee joint power assisting device of rigidity transformation into itself |
| CN107116535A (en) * | 2017-05-22 | 2017-09-01 | 合肥工业大学 | Ectoskeleton power assisting device |
| CN114800436A (en) * | 2017-09-07 | 2022-07-29 | 重庆市牛迪科技发展有限公司 | Exoskeleton |
| CN107745392B (en) * | 2017-10-27 | 2020-06-19 | 吉林大学 | Design method of bionic tension-compression system |
| CN107898604A (en) * | 2017-11-21 | 2018-04-13 | 北京林业大学 | A kind of flexibility lower limb exoskeleton |
| CN113069327B (en) * | 2021-03-01 | 2023-08-29 | 南昌大学 | Wearable walking aid for old people |
| CN115531146A (en) * | 2022-09-19 | 2022-12-30 | 天津理工大学 | Metamorphic bionic knee joint exoskeleton device with flexible motion bearing accommodation and experimental platform system thereof |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7101403B2 (en) * | 2004-05-28 | 2006-09-05 | Sen-Jung Chen | Vibration-absorbing device for an artificial lower limb |
| CN102599998B (en) * | 2012-03-31 | 2015-06-17 | 中国人民解放军总后勤部军需装备研究所 | Mechanical human hip exoskeleton bearing device |
| CN102973337B (en) * | 2012-09-25 | 2015-05-06 | 电子科技大学 | Active knee joint structure with function of load-bearing and self-locking |
| CN103407588B (en) * | 2013-08-23 | 2016-12-28 | 电子科技大学 | A kind of space sport auxiliary device |
| CN104758142B (en) * | 2015-04-10 | 2017-06-27 | 电子科技大学 | A kind of assistance exoskeleton robot |
| CN205126737U (en) * | 2015-11-03 | 2016-04-06 | 电子科技大学 | A ectoskeleton device for lower limbs of human body is recovered |
| CN205799482U (en) * | 2016-05-26 | 2016-12-14 | 成都润惠科技有限公司 | A kind of self-adapting flexible joint ESD |
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2016
- 2016-05-26 CN CN201610364237.7A patent/CN105904440B/en not_active Expired - Fee Related
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| CN105904440A (en) | 2016-08-31 |
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Effective date of registration: 20190627 Address after: 610094 Tianjiubei Lane 139, Chengdu High-tech Zone, Sichuan Province Patentee after: Chengdu Outwit Science & Technology Co., Ltd. Address before: 610041 No. 33 Ximianqiao Street, Wuhou District, Chengdu City, Sichuan Province Patentee before: CHENGDU RUNHUI TECHNOLOGY CO., LTD. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180619 Termination date: 20200526 |